Powered surgical instrument with independent selectively applied rotary and linear drivetrains

ABSTRACT

An apparatus includes a body and a shaft assembly. The body includes a rotary drive output, a linear drive output, and a control module. The shaft assembly includes a distal end and a proximal end. The distal end includes a type of end effector configured to operate on tissue. The proximal end is configured to removably couple with the body assembly. The proximal end includes one or both of a rotary drive input configured to couple with the rotary drive output or a linear drive input configured to couple with the linear drive input. The shaft assembly is configured to actuate the end effector in response to movement of one or both of the rotary drive input or the linear drive input. The control module is configured to selectively actuate the rotary drive output or the linear drive output based on the type of end effector of the shaft assembly.

BACKGROUND

In some settings, endoscopic surgical instruments may be preferred overtraditional open surgical devices since a smaller incision may reducethe post-operative recovery time and complications. Consequently, someendoscopic surgical instruments may be suitable for placement of adistal end effector at a desired surgical site through the cannula of atrocar. These distal end effectors may engage tissue in various ways toachieve a diagnostic or therapeutic effect (e.g., endocutter, grasper,cutter, stapler, clip applier, access device, drug/gene therapy deliverydevice, and energy delivery device using ultrasonic vibration, RF,laser, etc.). Endoscopic surgical instruments may include a shaftbetween the end effector and a handle portion, which is manipulated bythe clinician. Such a shaft may enable insertion to a desired depth androtation about the longitudinal axis of the shaft, thereby facilitatingpositioning of the end effector within the patient. Positioning of anend effector may be further facilitated through inclusion of one or morearticulation joints or features, enabling the end effector to beselectively articulated or otherwise deflected relative to thelongitudinal axis of the shaft.

Examples of endoscopic surgical instruments include surgical staplers.Some such staplers are operable to clamp down on layers of tissue, cutthrough the clamped layers of tissue, and drive staples through thelayers of tissue to substantially seal the severed layers of tissuetogether near the severed ends of the tissue layers. Merely exemplarysurgical staplers are disclosed in U.S. Pat. No. 7,000,818, entitled“Surgical Stapling Instrument Having Separate Distinct Closing andFiring Systems,” issued Feb. 21, 2006; U.S. Pat. No. 7,380,696, entitled“Articulating Surgical Stapling Instrument Incorporating a Two-PieceE-Beam Firing Mechanism,” issued Jun. 3, 2008; U.S. Pat. No. 7,404,508,entitled “Surgical Stapling and Cutting Device,” issued Jul. 29, 2008;U.S. Pat. No. 7,434,715, entitled “Surgical Stapling Instrument HavingMultistroke Firing with Opening Lockout,” issued Oct. 14, 2008; U.S.Pat. No. 7,721,930, entitled “Disposable Cartridge with Adhesive for Usewith a Stapling Device,” issued May 25, 2010; U.S. Pat. No. 8,408,439,entitled “Surgical Stapling Instrument with An Articulatable EndEffector,” issued Apr. 2, 2013; and U.S. Pat. No. 8,453,914, entitled“Motor-Driven Surgical Cutting Instrument with Electric ActuatorDirectional Control Assembly,” issued Jun. 4, 2013. The disclosure ofeach of the above-cited U.S. Patents is incorporated by referenceherein.

While the surgical staplers referred to above are described as beingused in endoscopic procedures, such surgical staplers may also be usedin open procedures and/or other non-endoscopic procedures. By way ofexample only, a surgical stapler may be inserted through a thoracotomy,and thereby between a patient's ribs, to reach one or more organs in athoracic surgical procedure that does not use a trocar as a conduit forthe stapler. Such procedures may include the use of the stapler to severand close a vessel leading to a lung. For instance, the vessels leadingto an organ may be severed and closed by a stapler before removal of theorgan from the thoracic cavity. Of course, surgical staplers may be usedin various other settings and procedures.

Examples of surgical staplers that may be particularly suited or usethrough a thoracotomy are disclosed in U.S. Patent ApplicationPublication No. 2014/0243801, entitled “Surgical Instrument End EffectorArticulation Drive with Pinion and Opposing Racks,” published on Aug.28, 2014; U.S. Patent Application Publication No. 2014/0239041, entitled“Lockout Feature for Movable Cutting Member of Surgical Instrument,”Published Aug. 28, 2014; U.S. Patent Application Publication No.2014/0239038, entitled “Surgical Instrument with Multi-Diameter Shaft,”published Aug. 28, 2014; and U.S. Patent Application Publication No.2014/0239044, entitled “Installation Features for Surgical InstrumentEnd Effector Cartridge,” published Aug. 28, 2014. The disclosure of eachof the above-cited U.S. Patent Applications is incorporated by referenceherein.

While several surgical instruments and systems have been made and used,it is believed that no one prior to the inventors has made or used theinvention described in the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

While the specification concludes with claims which particularly pointout and distinctly claim this technology, it is believed this technologywill be better understood from the following description of certainexamples taken in conjunction with the accompanying drawings, in whichlike reference numerals identify the same elements and in which:

FIG. 1 depicts a perspective view of an exemplary surgical instrumentincluding an interchangeable shaft assembly and a handle assembly;

FIG. 2 depicts a perspective view of the instrument of FIG. 1, showingthe shaft assembly disassembled from the handle assembly of theinstrument;

FIG. 3 depicts a partial perspective view of the instrument of FIG. 1,showing the shaft assembly disassembled from the handle assembly of theinstrument;

FIG. 4A depicts a side elevational view of a proximal portion of theinstrument of FIG. 1, with a closure trigger in a first pivotal positionand a firing trigger in a first pivotal position;

FIG. 4B depicts a side elevational view of a proximal portion of theinstrument of FIG. 1, with the closure trigger in a second pivotalposition and the firing trigger in a second pivotal position;

FIG. 4C depicts a side elevational view of a proximal portion of theinstrument of FIG. 1, with the closure trigger in the second pivotalposition and the firing trigger in a third pivotal position;

FIG. 5 depicts a perspective view of a proximal portion of theinstrument of FIG. 1, with a battery removed from the handle assembly;

FIG. 6 depicts a side elevational view of an array of alternative shaftassemblies that may be used with the instrument of FIG. 1;

FIG. 7 depicts a perspective view of an exemplary alternative handleassembly and an array of associated alternative shaft assemblies;

FIG. 8 depicts depicts a perspective view of a portion of an exemplaryalternative shaft assembly separated from a portion of an exemplaryalternative dual-drive handle assembly;

FIG. 9A depicts a partial cross-sectional side view of the handleassembly of FIG. 8 coupled with the shaft assembly of FIG. 8, with arotary drive member of the handle assembly of FIG. 8 disengaged from acorresponding rotary driven member of the shaft assembly of FIG. 8;

FIG. 9B depicts a partial cross-sectional side view of the handleassembly of FIG. 8 coupled with the shaft assembly of FIG. 8, with therotary drive member of the handle assembly of FIG. 8 engaged with thecorresponding rotary driven member of the shaft assembly of FIG. 8;

FIG. 10 depicts a schematic view of another exemplary dual-drive handleassembly coupled with a shaft assembly having a linear drive input;

FIG. 11 depicts a schematic view of the handle assembly of FIG. 10coupled with a shaft assembly having a rotary drive input; and

FIG. 12 depicts a schematic view of the handle assembly of FIG. 10coupled with a shaft assembly having a linear drive input and a rotarydrive input;

FIG. 13 depicts a schematic view of another exemplary dual-drive handleassembly;

FIG. 14 depicts a perspective view of an exemplary rotary drive assemblythat may be incorporated into a surgical instrument;

FIG. 15 depicts a cross-sectional perspective view of an outer casing ofa gearbox of the rotary drive assembly of FIG. 14;

FIG. 16 depicts a partially exploded perspective view of planetary gearsand a drive shaft of the rotary drive assembly of FIG. 14;

FIG. 17 depicts a partial perspective view of another exemplary rotarydrive assembly that may be incorporated into a surgical instrument;

FIG. 18 depicts a cross-sectional view of the rotary drive assembly ofFIG. 17, taken along line 18-18 of FIG. 17; and

FIG. 19 depicts another cross-sectional view of the rotary driveassembly of FIG. 17, taken along line 19-19 of FIG. 17.

The drawings are not intended to be limiting in any way, and it iscontemplated that various embodiments of the technology may be carriedout in a variety of other ways, including those not necessarily depictedin the drawings. The accompanying drawings incorporated in and forming apart of the specification illustrate several aspects of the presenttechnology, and together with the description explain the principles ofthe technology; it being understood, however, that this technology isnot limited to the precise arrangements shown.

DETAILED DESCRIPTION

The following description of certain examples of the technology shouldnot be used to limit its scope. Other examples, features, aspects,embodiments, and advantages of the technology will become apparent tothose skilled in the art from the following description, which is by wayof illustration, one of the best modes contemplated for carrying out thetechnology. As will be realized, the technology described herein iscapable of other different and obvious aspects, all without departingfrom the technology. Accordingly, the drawings and descriptions shouldbe regarded as illustrative in nature and not restrictive.

It is further understood that any one or more of the teachings,expressions, embodiments, examples, etc. described herein may becombined with any one or more of the other teachings, expressions,embodiments, examples, etc. that are described herein. Thefollowing-described teachings, expressions, embodiments, examples, etc.should therefore not be viewed in isolation relative to each other.Various suitable ways in which the teachings herein may be combined willbe readily apparent to those of ordinary skill in the art in view of theteachings herein. Such modifications and variations are intended to beincluded within the scope of the claims.

For clarity of disclosure, the terms “proximal” and “distal” are definedherein relative to an operator or other operator grasping a surgicalinstrument having a distal surgical end effector. The term “proximal”refers the position of an element closer to the operator or otheroperator and the term “distal” refers to the position of an elementcloser to the surgical end effector of the surgical instrument andfurther away from the operator or other operator. Although the surgicalinstruments described herein comprise motorized implements for cuttingand stapling, it will be appreciated that the configurations describedherein may be used with any suitable type of electrical surgicalinstrument such as cutters, claspers, staplers, RF cutter/coagulators,ultrasonic cutter/coagulators, and laser cutter/coagulators, forexample.

I. Exemplary Surgical Instrument with Linear Drive Assembly

FIG. 1 depicts a motor-driven surgical cutting and fastening instrument(10) that includes a handle assembly (11) and a removable shaft assembly(16). In some versions, handle assembly (11) and shaft assembly (16) areeach provided a single-use, disposable components. In some otherversions, handle assembly (11) and shaft assembly (16) are each providedas reusable components. As another merely illustrative example, shaftassembly (16) may be provided as a single-use, disposable componentwhile handle assembly is provided as a reusable component. Varioussuitable ways in which reusable versions of handle assembly (11) andshaft assembly (16) may be suitable reprocessed for reuse will beapparent to those of ordinary skill in the art in view of the teachingsherein.

Handle assembly (11) of the present example includes a housing (12), aclosure trigger (32), and a firing trigger (33). At least a portion ofhousing (12) forms a handle (14) that is configured to be grasped,manipulated and actuated by the clinician. Housing (12) is configuredfor operative attachment to shaft assembly (16), which has a surgicalend effector (18) operatively coupled thereto. As described below, endeffector (18) is configured to perform one or more surgical tasks orprocedures. In particular, end effector (18) of the example shown inFIG. 1 is operable to perform a surgical cutting and stapling procedure,in a manner like an end effector of a conventional endocutter, thoughthis is just one merely illustrative example.

FIG. 1 illustrates surgical instrument (10) with interchangeable shaftassembly (16) operatively coupled to handle assembly (11). FIGS. 2-3illustrate attachment of interchangeable shaft assembly (16) to housing(12) of handle (14). Handle (14) includes a pair of interconnectablehandle housing segments (22, 24) that may be interconnected by screws,snap features, adhesive, etc. In the illustrated arrangement, handlehousing segments (22, 24) cooperate to form a pistol grip portion (26)that can be grasped and manipulated by the clinician. As will bediscussed in further detail below, handle (14) operatively supports aplurality of drive systems therein that are configured to generate andapply various control motions to corresponding portions ofinterchangeable shaft assembly (16) that is operatively attachedthereto. As will also be discussed in further detail below, triggers(32, 33) are pivotable toward pistol grip portion (26) to activate atleast some of the drive systems in handle (14).

At least some of the drive systems in handle assembly (11) areultimately driven by a motor (118), which is shown schematically in FIG.5. In the present example, motor (118) is in pistol grip portion (26),though motor (118) may instead be located at any other suitableposition. Motor (118) receives power from a battery pack (110), which issecured to handle (14). In the present example, and as shown in FIG. 5,battery pack (110) is removable from handle (14). In some otherversions, battery pack (110) is not removable from handle (14). In somesuch versions, battery pack (110) (or a variation thereof) is fullycontained within handle housing segments (22, 24). Various suitableforms that motor (118) and battery pack (110) may take will be apparentto those of ordinary skill in the art in view of the teachings herein.

As also shown schematically in FIG. 5, a control circuit (117) iscontained within handle (14). By way of example only, control circuit(117) may comprise a microcontroller and/or various other components aswill be apparent to those of ordinary skill in the art in view of theteachings herein. Control circuit (117) is configured to store andexecute control algorithms to drive motor (118). Control circuit (117)is also configured to drive a graphical user interface (116), which islocated at the proximal end of handle assembly (11). In some versions,control circuit (117) is configured to receive and process one or moresignals from shaft assembly (16). By way of example only, controlcircuit (117) may be configured and operable in accordance with at leastsome of the teachings of U.S. Pub. No. 2015/0272575, entitled “SurgicalInstrument Comprising a Sensor System,” published Oct. 1, 2015, thedisclosure of which is incorporated by reference herein. Other suitableways in which control circuit (117) may be configured and operable willbe apparent to those of ordinary skill in the art in view of theteachings herein.

As best seen in FIG. 3, a frame (28) of handle (14) operatively supportsa plurality of drive systems. In this example, frame (28) operativelysupports a “first” or closure drive system, generally designated as(30), which may be employed to apply closing and opening motions tointerchangeable shaft assembly (16) that is operatively attached orcoupled thereto. Also in this example, closure drive system (30)includes an actuator in the form of a closure trigger (32) that ispivotally supported by frame (28). More specifically, closure trigger(32) is pivotally coupled to housing (14) by a pin (not shown). Sucharrangement enables closure trigger (32) to be manipulated by aclinician such that when the clinician grasps pistol grip portion (26)of handle (14), closure trigger (32) may be easily pivoted from astarting or “unactuated” position (FIG. 4A) toward pistol grip portion(26) to an “actuated” position; and more particularly to a fullycompressed or fully actuated position (FIG. 4B). Closure trigger (32)may be biased into the unactuated position by spring or other biasingarrangement (not shown).

In the present example, closure drive system (30) further includes aclosure linkage assembly (36) pivotally coupled to closure trigger (32).A portion of closure linkage assembly (36) is shown in FIG. 3. Closurelinkage assembly (36) may include a first closure link (not shown) and asecond closure link (38) that are pivotally coupled to closure trigger(32) by a pin (not shown). Second closure link (38) may also be referredto herein as an “attachment member” and includes a transverse attachmentpin (42). As shown in FIG. 3, attachment pin (42) is exposed when shaftassembly (16) is detached from handle assembly (11). Attachment pin (42)may thus couple with a complementary feature of a shaft assembly (16)when shaft assembly (16) is coupled with handle assembly (11), asdescribed in greater detail below.

Still referring to FIGS. 1-3, first closure link (not shown) isconfigured to cooperate with a closure release assembly (44) that ispivotally coupled to frame (28). In at least one example, closurerelease assembly (44) has a release button assembly (46) with a distallyprotruding locking pawl (not shown) formed thereon. Release buttonassembly (46) may be pivoted in a counterclockwise direction by arelease spring (not shown). As the clinician depresses closure trigger(32) from its unactuated position toward pistol grip portion (26) ofhandle (14), first closure link (not shown) pivots upwardly to a pointwhere a locking pawl (not shown) drops into retaining engagement withfirst closure link (not shown), thereby preventing closure trigger (32)from returning to the unactuated position. Thus, closure releaseassembly (44) serves to lock closure trigger (32) in the fully actuatedposition.

When the clinician desires to unlock closure trigger (32) from theactuated position to return to the unactuated position, the cliniciansimply pivots closure release button assembly (46) by urging releasebutton assembly (46) distally, such that locking pawl (not shown) ismoved out of engagement with the first closure link (not shown). Whenthe locking pawl (not shown) has been moved out of engagement with firstclosure link (not shown), closure trigger (32) may return to theunactuated position in response to a resilient bias urging closuretrigger (32) back to the unactuated position. Other closure triggerlocking and release arrangements may also be employed.

Interchangeable shaft assembly (16) further includes an articulationjoint (52) and an articulation lock (not shown) that can be configuredto releasably hold end effector (18) in a desired position relative to alongitudinal axis of shaft assembly (16). In the present example,articulation joint (52) is configured to allow end effector (18) to belaterally deflected away from the longitudinal axis of shaft assembly(16), as is known in the art. By way of example only, end effector (18),articulation joint (52), and the articulation lock (not shown) may beconfigured and operable in accordance with at least some of theteachings of U.S. Pub. No. 2014/0263541, entitled “ArticulatableSurgical Instrument Comprising an Articulation Lock,” published Sep. 18,2014.

In the present example, articulation at articulation joint (52) ismotorized via motor (118), based on control input from the operator viaan articulation control rocker (112) on handle assembly (11). By way ofexample only, when the operator presses on the upper portion ofarticulation control rocker (112), end effector (18) may laterally pivotto the right (viewing instrument (10) from above) at articulation joint(52); and when the operator presses on the lower portion of articulationcontrol rocker (112), end effector (18) may laterally pivot to the left(viewing instrument (10) from above) at articulation joint (52). In someversions, the other side of handle assembly (11) includes anotherarticulation control rocker (112). In such versions, the articulationcontrol rocker (112) on the other side of handle assembly (11) may beconfigured to provide pivoting of end effector (18) in directionsopposite to those listed above in response to upper actuation ofarticulation control rocker (112) and lower actuation of articulationcontrol rocker (112). By way of example only, articulation controlrocker (112) and the rest of the features that provide motorizedarticulation of end effector (18) at articulation joint (52) may beconfigured and operable in accordance with at least some of theteachings of U.S. Pub. No. 2015/0280384, entitled “Surgical InstrumentComprising a Rotatable Shaft,” published Oct. 1, 2015, the disclosure ofwhich is incorporated by reference herein. Other suitable ways in whicharticulation control rocker (112) and the rest of the features thatprovide motorized articulation of end effector (18) at articulationjoint (52) may be configured and operable will be apparent to those ofordinary skill in the art in view of the teachings herein.

End effector (18) of the present example comprises a lower jaw in theform of an elongated channel (48) that is configured to operatively asupport staple cartridge (20) therein. End effector (18) of the presentexample further includes an upper jaw in the form of an anvil (50) thatis pivotally supported relative to elongated channel (48).Interchangeable shaft assembly (16) further includes a proximal housingor nozzle (54) comprised of nozzle portions (56, 58); and a closure tube(60) that can be utilized to close and/or open anvil (50) of endeffector (18). Shaft assembly (16) also includes a closure shuttle (62)that is slidably supported within a chassis (64) of shaft assembly (16)such that closure shuttle (62) may be axially moved relative to chassis(64). Closure shuttle (62) includes a pair of proximally-protrudinghooks (66) that are configured for attachment to attachment pin (42)that is attached to second closure link (38). A proximal end (not shown)of closure tube (60) is coupled to closure shuttle (62) for relativerotation thereto, though the coupling of closure tube (60) with closureshuttle (62) provides that closure tube (60) and closure shuttle (62)will translate longitudinally with each other. A closure spring (notshown) is journaled on closure tube (60) and serves to bias closure tube(60) in the proximal direction (PD), which can serve to pivot closuretrigger (32) into the unactuated position when shaft assembly (16) isoperatively coupled to handle (14).

In the present example, articulation joint (52) includes a double pivotclosure sleeve assembly (70). Double pivot closure sleeve assembly (70)includes an end effector closure sleeve assembly (72) for engaging anopening tab on anvil (50) in the various manners described in U.S. Pub.No. 2014/0263541, the disclosure of which is incorporated by referenceherein. Double pivot closure sleeve assembly (70) is coupled withclosure tube (60) such that double pivot closure sleeve assembly (70)translates with closure tube (60) in response to pivotal movement ofclosure trigger (32), even when articulation joint (52) is in anarticulated state (i.e., when end effector (18) is pivotally deflectedlaterally away from the longitudinal axis of shaft assembly (16) atarticulation joint (52)). Moreover, the engagement of end effectorclosure sleeve assembly (72) with anvil (50) provides pivotal movementof anvil (50) toward staple cartridge (20) in response to distaltranslation of double pivot closure sleeve assembly (70) and closuretube (60); and pivotal movement of anvil (50) away from staple cartridge(20) in response to proximal translation of double pivot closure sleeveassembly (70) and closure tube (60). While shaft assembly (16) of thepresent example includes articulation joint (52), other interchangeableshaft assemblies may lack articulation capabilities.

As shown in FIG. 3, chassis (64) includes a pair of tapered attachmentportions (74) formed thereon that are adapted to be received withincorresponding dovetail slots (76) formed within a distal attachmentflange portion (78) of frame (28). Each dovetail slot (76) may betapered or generally V-shaped to seatingly receive attachment portions(74) therein. A shaft attachment lug (80) is formed on the proximal endof an intermediate firing shaft (82). Thus, when interchangeable shaftassembly (16) is coupled to handle (14), shaft attachment lug (80) isreceived in a firing shaft attachment cradle (84) formed in a distal endof a longitudinal drive member (86). When shaft attachment lug (80) isreceived in firing shaft attachment cradle (84), intermediate firingshaft (82) will translate longitudinally with longitudinal drive member(86). When intermediate firing shaft (82) translates distally,intermediate firing shaft (82) actuates end effector (18) to drivestaples into tissue and cut the tissue, as is known in the art. By wayof example only, this actuation of end effector (18) may be carried outin accordance with at least some of the teachings of U.S. Pub. No.2015/0280384, he disclosure of which is incorporated by referenceherein; and/or in accordance with the teachings of various otherreferences cited herein.

FIGS. 4A-4C show the different states of handle assembly (11) during thedifferent states of actuation of end effector (18). In FIG. 4A, handleassembly (11) is in a state where closure trigger (32) is in anon-actuated pivotal position and firing trigger (33) is in anon-actuated pivotal position. At this stage, end effector (18) is in anopened state where anvil (50) is pivoted away from staple cartridge(20).

In FIG. 4B, handle assembly (11) is in a state where closure trigger(32) is in an actuated pivotal position. As noted above, closure trigger(32) will be locked in this position until the operator actuates releasebutton assembly (46). At this stage, end effector is in a closed butunfired state where anvil (50) is pivoted toward staple cartridge (20),such that tissue is being compressed between anvil (50) and cartridge(20). However, firing shaft (82) has not yet been driven distally toactuate staples from staple cartridge (20), and the knife at the distalend of firing shaft (82) has not yet severed the tissue between anvil(20) and staple cartridge (20). It should be noted that firing trigger(33) is in a partially-actuated pivotal position in FIG. 4B, due to thetravel of closure trigger (32) from the non-actuated pivotal position tothe actuated pivotal position. However, this movement of firing trigger(33) is only provided to improve access to firing trigger (33) for theoperator. In other words, this movement of firing trigger (33) from theposition shown in FIG. 4A to the position shown in FIG. 4B does not yetactivate a firing sequence.

In FIG. 4C, handle assembly is in a state where closure trigger (32)remains in the actuated pivotal position, and firing trigger (33) hasbeen pivoted to an actuated pivotal position. This actuation of firingtrigger (33) activates motor (118) to drive longitudinal drive member(86) longitudinally, which in turn drives firing shaft (82)longitudinally. The longitudinal movement of firing shaft (82) resultsin actuation of staples from staple cartridge (20) into the tissuecompressed between anvil (50) and staple cartridge (20); and furtherresults in the severing of the tissue compressed between anvil (50) andstaple cartridge (20). In some versions, an additional safety trigger isprovided. For instance, the additional safety trigger may preventactuation of firing trigger (33) until the safety trigger is actuated.In other words, after reaching the state shown in FIG. 4B, when theoperator is ready to actuate firing trigger (33), the operator mustfirst actuate the safety trigger and then actuate firing trigger (33).The presence of a safety trigger may prevent inadvertent actuation offiring trigger (33).

It should also be understood that, in the present example, the actuationof anvil (50) toward staple cartridge (20) is provided through purelymechanical couplings between closure trigger (32) and anvil (50), suchthat motor (118) is not used to actuate anvil (50). It should also beunderstood that, in the present example, the actuation of firing shaft(82) (and, hence, the actuation of staple cartridge (20)) is providedthrough activation of motor (118). In addition, the actuation ofarticulation joint (52) is provided through activation of motor (118) inthe present example. This motorized actuation of articulation joint (52)is provided via longitudinal translation of drive member (86). A clutchassembly (not shown) within shaft assembly (16) is operable toselectively couple longitudinal translation of drive member (86) withfeatures to either drive articulation joint (52) or actuate staplecartridge (20). Such selective coupling via the clutch assembly is basedon the pivotal position of closure trigger (32). In particular, whenclosure trigger (32) is in the non-actuated position shown in FIG. 4A,activation of motor (118) (in response to activation of articulationcontrol rocker (112)) will drive articulation joint (52). When closuretrigger (32) is in the actuated position shown in FIG. 4B, activation ofmotor (118) (in response to actuation of firing trigger (33)) willactuate staple cartridge (20). By way of example only, the clutchassembly may be configured and operable in accordance with at least someof the teachings of U.S. Pub. No. 2015/0280384, the disclosure of whichis incorporated by reference herein.

In the present example, handle assembly (11) also includes a “home”button (114). By way of example only, when anvil (50) is in a closedposition, “home” button (114) may be operable to activate motor (118) toretract drive member (86) proximally to a proximal-most, “home”position. In addition, or in the alternative, when anvil (50) is in anopen position, “home” button (114) may be operable to activate motor(118) to drive articulation joint (52) to achieve a non-articulatedstate, such that end effector (18) is coaxially aligned with shaftassembly (16). In addition, or in the alternative, “home” button (114)may activate graphical user interface (116) to return to a “home”screen. Other suitable operations that may be provided in response toactivation of “home” button (114) will be apparent to those of ordinaryskill in the art in view of the teachings herein.

Shaft assembly (16) of the present example further includes a latchsystem for removably coupling shaft assembly (16) to handle assembly(11) and, more specifically, to frame (28). By way of example only, thislatch system may include a lock yoke or other kind of lock member thatis movably coupled to chassis (64). As shown in FIG. 3, such a lock yokemay include two proximally protruding lock lugs (96) that are configuredfor releasable engagement with corresponding lock detents or grooves(98) in frame (28). In some versions, the lock yoke is biased in theproximal direction by a resilient member (e.g., a spring, etc.).Actuation of the lock yoke may be accomplished by a latch button (100)that is slidably mounted on a latch actuator assembly (102) that ismounted to chassis (64). Latch button (100) may be biased in a proximaldirection relative to the lock yoke. The lock yoke may be moved to anunlocked position by urging latch button (100) the in distal direction,which also causes the lock yoke to pivot out of retaining engagementwith frame (28). When the lock yoke is in “retaining engagement” withframe (28), lock lugs (96) are retainingly seated within thecorresponding lock detents or grooves (98). By way of further exampleonly, shaft assembly (16) may be removably coupled with handle assembly(11) in accordance with at least some of the teachings of U.S. Pub. No.2017/0086823, entitled “Surgical Stapling Instrument with Shaft Release,Powered Firing, and Powered Articulation,” published Mar. 30, 2017, thedisclosure of which is incorporated by reference herein; in accordancewith at least some of the teachings of U.S. Pub. No. 2015/0280384, thedisclosure of which is incorporated by reference herein; and/or in anyother suitable fashion.

To commence the coupling process between shaft assembly (16) and handleassembly (11), the clinician may position chassis (64) ofinterchangeable shaft assembly (16) above or adjacent to frame (28) suchthat tapered attachment portions (74) formed on chassis (64) are alignedwith dovetail slots (76) in frame (28). The clinician may then moveshaft assembly (16) along an installation axis (IA) that isperpendicular to the longitudinal axis of shaft assembly (16) to seatattachment portions (74) in “operative engagement” with thecorresponding dovetail receiving slots (76). In doing so, shaftattachment lug (80) on intermediate firing shaft (82) will also beseated in cradle (84) in the longitudinally movable drive member (86)and the portions of pin (42) on second closure link (38) will be seatedin the corresponding hooks (66) in closure shuttle (62). As used herein,the term “operative engagement” in the context of two components meansthat the two components are sufficiently engaged with each other so thatupon application of an actuation motion thereto, the components maycarry out their intended action, function, and/or procedure.

As discussed above, at least five systems of interchangeable shaftassembly (16) may be operatively coupled with at least fivecorresponding systems of handle (14). A first system comprises a framesystem that couples and/or aligns the frame or spine of shaft assembly(16) with frame (28) of the handle (14). A second system is the latchsystem that releasably locks the shaft assembly (16) to the handle (14).

A third system is closure drive system (30) that may operatively connectclosure trigger (32) of handle (14) and closure tube (60) and anvil (50)of shaft assembly (16). As outlined above, closure shuttle (62) of shaftassembly (16) engages with pin (42) on second closure link (38). Throughclosure drive system (30), anvil (50) pivots toward and away from staplecartridge (20) based on pivotal movement of closure trigger (32) towardand away from pistol grip (26).

A fourth system is an articulation and firing drive system operativelyconnecting firing trigger (33) of handle (14) with intermediate firingshaft (82) of the shaft assembly (16). As outlined above, the shaftattachment lug (80) operatively connects with the cradle (84) of thelongitudinal drive member (86). This fourth system provides motorizedactuation of either articulation joint (52) or staple cartridge (20),depending on the pivotal position of closure trigger (32). When closuretrigger (32) is in a non-actuated pivotal position, the fourth systemoperatively connects articulation control rocker (112) with articulationjoint (52), thereby providing motorized pivotal deflection of endeffector (18) toward and away from the longitudinal axis of shaftassembly (11) at articulation joint (52). When closure trigger (32) isin an actuated pivotal position, the fourth system operatively connectsfiring trigger (33) with staple cartridge (20), resulting in staplingand cutting of tissue captured between anvil (50) and staple cartridge(20) in response to actuation of firing trigger (33).

A fifth system is an electrical system that can signal to controlcircuit (117) in handle (14) that the shaft assembly (16) has beenoperatively engaged with the handle (14), to conduct power and/orcommunicate signals between the shaft assembly (16) and the handle (14).In the present example, and as shown in FIG. 3, shaft assembly (16)includes an electrical connector (106) that is operatively mounted to ashaft circuit board (not shown). Electrical connector (106) isconfigured for mating engagement with a corresponding electricalconnector (108) on a handle control board (not shown). Further detailsregarding the circuitry and control systems may be found in U.S. Pub.No. 2014/0263541, the disclosure of which is incorporated by referenceherein and/or U.S. Pub. No. 2015/0272575, the disclosure of which isincorporated by reference herein.

Other kinds of systems of interchangeable shaft assembly (16) that maybe operatively coupled with at corresponding systems of the handle (14)will be apparent to those of ordinary skill in the art in view of theteachings herein.

As noted above, handle assembly (11) of the present example includes agraphical user interface (116). By way of example only, graphical userinterface (116) may be used to display various information about theoperational state of battery (110), the operational state of endeffector (18), the operational state of articulation joint (52), theoperational state of triggers (32, 33), and/or any other kinds ofinformation. Other suitable kinds of information that may be displayedvia graphical user interface will be apparent to those of ordinary skillin the art in view of the teachings herein.

Handle assembly (11) may be configured for use with interchangeableshaft assemblies that include end effectors that are adapted to supportdifferent sizes and types of staple cartridges, have different shaftlengths, sizes, and types, etc. By way of example only, FIG. 6 showsvarious kinds of shaft assemblies (16, 120, 130, 140) that may be usedwith handle assembly (11). In particular, FIG. 6 shows a circularstapler shaft assembly (120) with an end effector (122) that is operableto perform a circular stapling and cutting operation (e.g., end-to-endanastomosis); a liner stapler shaft assembly (130) with an end effector(132) that is operable to perform a linear stapling operation; and asecond endocutter shaft assembly (140) with an end effector (142) thatis operable to perform the same kind of stapling and cutting operationas end effector (18). However, in this example, shaft assembly (140) isshorter than shaft assembly (16), shaft assembly (140) has a smallerdiameter than shaft assembly (16), and end effector (142) is smallerthan end effector (18). It should be understood that these varioussurgical stapling shaft assemblies (16, 120, 130, 140) are merelyillustrative examples.

It should also be understood that control circuit (117) may beconfigured to detect the kind of shaft assembly (16, 120, 130, 140)coupled with handle assembly (11), and select a control algorithm suitedfor that kind of shaft assembly (16, 120, 130, 140). As another merelyillustrative example, each shaft assembly (16, 120, 130, 140) may have achip or other memory device storing the control algorithm suited forthat kind of shaft assembly (16, 120, 130, 140); and control circuit(117) may receive and execute that control algorithm after shaftassembly (16, 120, 130, 140) is coupled with handle assembly (11).

In addition, handle assembly (11) may also be effectively employed witha variety of other interchangeable shaft assemblies including thoseassemblies that are configured to apply other motions and kinds ofenergy such as, for example, radio frequency (RF) energy, ultrasonicenergy and/or motion to end effector arrangements adapted for use withvarious surgical applications and procedures. Furthermore, endeffectors, shaft assemblies, handles, surgical instruments, and/orsurgical instrument systems can utilize any suitable fastener, orfasteners, to fasten tissue. For instance, a fastener cartridgecomprising a plurality of fasteners removably stored therein can beremovably inserted into and/or attached to the end effector of a shaftassembly. Various examples of such cartridges are disclosed in variousreferences that are cited herein.

The various shaft assemblies (16) disclosed herein may employ sensorsand various other components that require electrical communication withcontrol circuit (117) in handled assembly (11). The electricalcommunications may be provided via mating electrical connectors (106,108). By way of example only, such sensors and other components may beconstructed and operable in accordance with at least some of theteachings of U.S. Pub. No. 2015/0272575, the disclosure of which isincorporated by reference herein. In addition, or in the alternative,instrument (10) may be constructed and operable in accordance with atleast some of the teachings of any of the various other references thatare cited herein.

It will be appreciated that the various teachings herein may also beeffectively employed in connection with robotically-controlled surgicalsystems. Thus, the term “housing” or “body” may also encompass ahousing, body, or similar portion of a robotic system that houses orotherwise operatively supports at least one drive system that isconfigured to generate and apply at least one control motion which couldbe used to actuate the interchangeable shaft assemblies disclosed hereinand their respective equivalents. The term “frame” may refer to aportion of a handheld surgical instrument. The term “frame” may alsorepresent a portion of a robotically controlled surgical instrumentand/or a portion of the robotic system that may be used to operativelycontrol a surgical instrument. By way of example only, theinterchangeable shaft assemblies disclosed herein may be employed withany of the various robotic systems, instruments, components and methodsdisclosed in U.S. Pat. No. 9,072,535, entitled “Surgical StaplingInstruments with Rotatable Staple Deployment Arrangements,” issued July7, 2015, the disclosure of which is incorporated by reference herein.

II. Exemplary Surgical Instrument with Rotary Drive Assembly

Instrument (10) of the example described above provides linearlyactuated drive features coupling handle assembly (11) with shaftassembly (16, 120, 130, 140), including firing shaft (80) coupled withlongitudinal drive member (86) and hooks (66) coupled with closure link(38), such that linear motion of these coupling drive features isrequired to operate instrument (10). Some other instruments may provideangularly actuated coupling features, such that rotary motion of thecoupling drive features is required to operate the instrument.

FIG. 7 shows an example of an instrument that relies on rotation ofdrive features coupling a handle assembly (200) with a selected shaftassembly (230, 240, 250) to actuate the instrument that is formed bycoupling handle assembly (200) with a selected shaft assembly (230, 240,250). Handle assembly (200) of this example comprises a first trigger(202), a second trigger (204), an electrical connector (206), a firstrotary driver (210), and a second rotary driver (212). Handle assembly(200) further includes a control module (220), an internal power source(222) (e.g., a battery), a first motor (224), and a second motor (224).Control module (220) is configured to process signals that are receivedthrough and/or sent through electrical connector (206). Control module(220) is also configured to respond to signals generated by manualactuation of triggers (202, 204). In particular, control module (220) isconfigured to direct power from power source (222) to one or both ofmotors (224, 226) in accordance with one or more control algorithms.Such control algorithms may vary based on input from triggers (202, 204)and based on signals received via electrical connector (206). When motor(226) is activated by control module (220), motor (226) drives rotarydriver (210) to rotate. When motor (226) is activated by control module(220), motor (226) drives rotary driver (210) to rotate.

The proximal end of each shaft assembly (230, 240, 250) is configured toremovably couple with handle assembly (200) to form an assembledinstrument. The proximal end of each shaft assembly (230, 240, 250)includes a pair of rotary inputs that are configured to couple withrespective rotary drivers (210, 212). Each shaft assembly (230, 240,250) includes a respective end effector (232, 242, 252) that is actuatedby rotation of the rotary inputs from rotary drivers (210, 212). Endeffector (232) of shaft assembly (230) is like end effector (122) and isoperable to perform a circular stapling and cutting operation (e.g.,end-to-end anastomosis). End effector (242) of shaft assembly (240) isoperable to perform a curvilinear stapling and cutting operation (e.g.,a lower anterior resection of the bowel). End effector (252) of shaftassembly (250) is operable to perform a linear stapling operation. Insome versions, rotation of one rotary driver (210, 212) causes thecoupled end effector (232, 242, 252) to compress tissue; while rotationof the other rotary driver (210, 212) causes the coupled end effector(232, 242, 252) to sever and staple the compressed tissue. Varioussuitable ways in which rotary drivers (210, 212) may be coupled with endeffectors (232, 242, 252) will be apparent to those of ordinary skill inthe art in view of the teachings herein.

In addition to the foregoing, handle assembly (200) and each shaftassembly (230, 240, 250) may be further configured and operable inaccordance with at least some of the teachings of U.S. Pub. No.2016/0249917, entitled “Surgical Apparatus Configured to Track anEnd-of-Life Parameter,” published Sep. 1, 2016, the disclosure of whichis incorporated by reference herein. Handle assembly (200) and shaftassemblies (230, 240, 250) are described herein only to illustrateexamples of instrumentation where rotary motion of coupling drivefeatures is required to operate the instrument. Other kinds ofinstrumentation where modular handle and shaft assemblies removablycouple via one or more rotary drive features will be apparent to thoseof ordinary skill in the art in view of the teachings herein.

III. Exemplary Handle Assembly with Dual-Drive Capability

A. Overview

As described above, some shaft assemblies (16, 120, 130, 140) areconfigured to provide actuation of an end effector (18, 122, 132, 142)in response to linear movement of features coupling shaft assembly (16,120, 130, 140) with a handle assembly (12). Other shaft assemblies (230,240, 250) are configured to provide actuation of an end effector (232,242, 252) in response to rotary movement of features coupling shaftassembly (230, 240, 250) with a handle assembly (200).

It may be desirable to provide a modified version of handle assemblies(12, 200) where the modified handle assembly is capable of operablycoupling with linearly driven shaft assemblies (16, 120, 130, 140) andwith rotationally driven shaft assemblies (230, 240, 250). Such a“universal” handle assembly may reduce the need for having two differentkinds of handle assemblies to operate a wide array of shaft assemblies(16, 120, 130, 140, 230, 240, 250). Such a universal handle assembly mayalso have sensing capabilities that enable the handle assembly todetermine whether the coupled shaft assembly (16, 120, 130, 140, 230,240, 250) requires a linear drive input, a rotary drive input, or acombination of linear and rotary drive inputs; and provide the requiredkind(s) of input accordingly. The following description provides severalmerely illustrative examples of universal handle assemblies that arecapable of providing a linear drive output, a rotary drive output, or acombination of linear and rotary drive output. Other examples will beapparent to those of ordinary skill in the art in view of the teachingsherein.

FIG. 8 shows an exemplary handle assembly (300) and an exemplary shaftassembly (350). Handle assembly (300) of this example comprises aprimary motor (302), a flip-up screen (304), a closure release assembly(306), an articulation control rocker (308), a “home” button (310), aclosure trigger (312), a firing shaft attachment cradle (320), asecondary motor (336), and an electrical connector (340). While notshown, handle assembly (300) also includes an integral power source(e.g., battery, etc.) and a control module. The control module is incommunication with the integral power source, motors (302, 336), andelectrical connector (340). Primary motor (302) is coupled with firingshaft attachment cradle (320) and is operable to drive firing shaftattachment cradle (320) linearly. By way of example only, a rack andpinion assembly (not shown) and/or any other suitable kind of mechanicaltransmission assembly may be used to convert rotary motion from primarymotor (302) into linear movement of firing shaft attachment cradle(320). The coupling between motor (302) and firing shaft attachmentcradle (320) may be the same as the coupling between motor (118) andfiring shaft attachment cradle (86) described above.

Flip-up screen (304) is operable to provide a graphical user interfacedisplaying information relating to handle assembly (300) and operationof handle assembly (300). Flip-up screen (304) may be configured andoperable just like graphical user interface (116) described above.Flip-up screen (304) may be further configured and operable forrepositioning in accordance with at least some of the teachings of U.S.Pat. App. No. [ATTORNEY DOCKET NO. END8155USNP.0645303], entitled“Surgical Instrument with Integrated and Independently PoweredDisplays,” filed on even date herewith, the disclosure of which isincorporated by reference herein.

Closure release assembly (306), articulation control rocker (308),“home” button (310), closure trigger (312), and firing shaft attachmentcradle (320) may be configured and operable just like closure releaseassembly (44), articulation control rocker (112), “home” button (114),closure trigger (32), and firing shaft attachment cradle (84),respectively, as described above. While not shown in FIG. 8, handleassembly (300) may also include a firing trigger just like firingtrigger (33); and other components like those of handle assembly (12).

Handle assembly (300) of the present example further includes a rotarydrive spindle (330) and a clutch (334) that is operable to transitionrotary drive spindle (330) between a proximal position (FIG. 9A) and adistal position (FIG. 9B). By way of example only, clutch (334) maycomprise a solenoid or any other suitable kind of device or assemblythat is operable to transition rotary drive spindle (330) between aproximal position (FIG. 9A) and a distal position (FIG. 9B) whileenabling spindle (330) to communicate rotary motion from secondary motor(336) when spindle (330) is in the distal position.

Shaft assembly (350) of this example comprises an electrical connector(352), a firing shaft (354), a rotary drive spindle (356), and a shaft(360). The distal end of shaft (360) may include any suitable kind ofend effector (not shown), including but not limited to any of thevarious end effectors (18, 122, 132, 142, 252, 242, 252) describedabove. Shaft assembly (350) is configured such that a portion of the endeffector at the distal end of shaft (360) is controlled through lineartranslation of firing shaft (354); and another portion of the endeffector at the distal end of shaft (360) is controlled through rotationof rotary drive spindle (356). Various suitable ways in which an endeffector at the distal end of shaft (360) may be driven by lineartranslation of firing shaft (354) and/or rotation of rotary drivespindle (356) will be apparent to those of ordinary skill in the art inview of the teachings herein.

Handle assembly (300) is configured to removably couple with shaftassembly (350), in a manner like the manner in which handle assembly(12) couples with shaft assemblies (16, 120, 130, 140). As shown inFIGS. 9A-9B, when handle assembly (300) is coupled with shaft assembly(350), electrical connectors (340, 352) contact each other, therebyproviding paths for electrical communication between handle assembly(300) and shaft assembly (350). In addition, a proximally facing surface(370) of shaft assembly (350) abuts a distally facing surface (342) ofhandle assembly (300).

As also shown in FIGS. 9A-9B, rotary drive spindle (330) is disposed inan opening (332) formed through distally facing surface (342) of handleassembly (300); while rotary drive spindle (356) is disposed in anopening (358) formed through proximally facing surface (370) of shaftassembly (350). The proximal end of rotary drive spindle (356) isrecessed relative to proximally facing surface (370) of shaft assembly(350). When rotary drive spindle (330) is in the proximal position (FIG.9A), rotary drive spindle (330) is recessed relative to distally facingsurface (342) of handle assembly (300). However, when rotary drivespindle (330) is in the distal position (FIG. 9B), rotary drive spindle(330) protrudes relative to distally facing surface (342) of handleassembly (300) to couple with rotary drive spindle (356) of shaftassembly (350). When rotary drive spindles (330, 356) are coupledtogether, rotary drive spindle (330) is operable to impart rotation torotary drive spindle (356). Secondary motor (336) is operable to therebyrotationally drive associated components in shaft assembly (350).

A control module (not shown) in handle assembly (300) is configured toactivate clutch (334), to thereby transition rotary drive spindle (330)between the distal position and the proximal position, based on a signalindicating whether the shaft assembly that is coupled with handleassembly (300) requires a rotary drive input. Thus, when the controlmodule detects the presence of a coupled shaft assembly that requires arotary drive input, the control module activates clutch (334) to driverotary drive spindle (330) to the distal position. When the controlmodule detects the presence of a coupled shaft assembly that does notrequire a rotary drive input, clutch (334) will remain inactivated androtary drive spindle (330) will remain in the proximal position. Thus,in the present example, rotary drive spindle (330) will remain in theproximal position by default; and will only be driven to the distalposition in response to a signal indicating that a rotary input isneeded for a shaft assembly that is coupled with handle assembly (300).

By way of example only, the control module in handle assembly (300) maydetermine whether the shaft assembly that is coupled with handleassembly (300) requires a rotary input based on the presence or absenceof a chip (e.g., RFID, EAS, NFC, etc.), optical code, physicalprotrusion, and/or other identifying feature located at the proximal endof the shaft assembly. Thus, the distal end of handle assembly (300) mayinclude a sensor or reader that is configured to detect the presence orabsence of such an identifying feature at the proximal end of the shaftassembly. As another merely illustrative example, electrical connector(352) of shaft assembly (350) may include a simple jumper feature thatprovides a conductive bridge between two contacts of electricalconnector (340) of handle assembly (300), such that clutch (334) isactivated when those two contacts of electrical connector (340) arecoupled by the jumper feature of electrical connector (352). Othersuitable ways in which a component of handle assembly (300) maydetermine whether a rotary drive input is required by a shaft assemblythat is coupled with handle assembly (300) will be apparent to those ofordinary skill in the art in view of the teachings herein. Similarfeatures and techniques may be used to enable handle assembly (300) todetermine whether a linear drive input is required by a shaft assemblythat is coupled with handle assembly (300).

In situations where a shaft assembly that is coupled with handleassembly (300) does not require a rotary drive input, rotary drivespindle (330) will remain in the proximal position, recessed withinopening (332), as shown in FIG. 9A. In this position, rotary drivespindle (330) will not interfere with any features of the shaft assemblythat is coupled with handle assembly (300). In some other variations,such as those where clutch (334) is omitted and rotary drive spindle(330) remains in the distal position shown in FIG. 9B, a shaft assemblythat does not require a rotary drive input may have a recess or openingformed where rotary drive spindle (330) is located, such that the recessor opening of the shaft assembly idly receives rotary drive spindle(330) and rotary drive spindle (330) does not interfere with coupling ofthe shaft assembly to handle assembly (300). In situations where a shaftassembly that is coupled with handle assembly (300) does not require alinear drive input, firing shaft attachment cradle (320) may beconfigured to retract within a recess or opening of handle assembly(300) such that firing shaft attachment cradle (320) does not interferewith coupling of the shaft assembly to handle assembly (300).Alternatively, a shaft assembly that does not require a linear driveinput may have a recess or opening formed where firing shaft attachmentcradle (320) is located, such that the recess or opening of the shaftassembly idly receives firing shaft attachment cradle (320).

While handle assembly (300) of the foregoing example provides only onelinear drive output (in the form of firing shaft attachment cradle(320)) and only one rotary drive output (in the form of rotary drivespindle (330)), other variations of handle assembly (300) may providemore than one linear drive output and/or more than one rotary driveoutput.

B. Exemplary Handle Assembly with Single Motor and Transmission toProvide Linear Drive Output and Rotary Drive Output

In some instances, it may be desirable to provide a variation of handleassembly (300) that has just one single source of driving motion, with adrive assembly that is operable to convert motion from that singlesource into at least two different kinds of motion (e.g., linear androtary). FIGS. 10-12 shown an example of such a variation. Inparticular, FIGS. 10-12 show an exemplary handle assembly (400) thatcomprises an electrical connector (402), a sensor (404), a linear driveoutput (406), a rotary drive output (408), a control module (410), apower source (412), a transmission (416), and a motor (418). Except asotherwise described below, handle assembly (400) may be at leastpartially configured and operable just like handle assemblies (12, 200,300) described above. As also shown in FIGS. 10-12, handle assembly(400) may be selectively coupled with various kinds of shaft assemblies(500, 600, 700), the details of which will be described further below.

Control module (410) is in communication with electrical connector(402), sensor (404), power source (412), transmission (416), and motor(418). Control module (410) is configured to execute control algorithmsto provide the functionality described below. By way of example only,control module (410) may comprise a circuit board, a microprocessor, amemory (e.g., EEPROM, etc.), and/or various other components. Varioussuitable ways in which control module (410) may be configured will beapparent to those of ordinary skill in the art in view of the teachingsherein. Electrical connector (402) may be configured and operable likeelectrical connectors (108, 206, 340) described above; or may have anyother suitable configuration. Sensor (404) is configured to detect thekind of shaft assembly (500, 600, 700) that is coupled with handleassembly (400). Various suitable forms that sensor (404) may take willbe apparent to those of ordinary skill in the art in view of theteachings herein. Control module (410) is configured to select andexecute an appropriate control algorithm based on the kind of shaftassembly (500, 600, 700) detected by sensor (404). Power source (412)may comprise one or more batteries or any other suitable kind of sourceof power as will be apparent to those of ordinary skill in the art inview of the teachings herein.

Motor (418) of the present example comprises a conventional motor thatis operable to provide only a rotary output. In some other versions,motor (418) is operable to provide only a linear output. Varioussuitable forms that motor (418) may take will be apparent to those ofordinary skill in the art in view of the teachings herein. Transmission(416) is coupled with motor (418) and with drive outputs (406, 408).Continuing with the example where motor (418) provides a single rotaryoutput, transmission (416) comprises a mechanical assembly that isoperable to either pass through the rotary output of motor (418) torotary drive output (408) (as shown in FIG. 11), convert the rotaryoutput of motor (418) into a linear drive motion that is passed throughlinear drive output (406) (as shown in FIG. 10), or provide a combinedrotary and linear output through outputs (406, 408) (as shown in FIG.12). By way of example only, linear drive output (406) may be configuredand operable like firing shaft attachment cradles (84, 320) as describedabove. Also by way of example only, rotary drive output (408) may beconfigured and operable like drivers (210, 212) or spindle (330) asdescribed above. Other suitable forms that outputs (406, 408) may takewill be apparent to those of ordinary skill in the art in view of theteachings herein. It should also be understand that linear drive output(406) may in fact comprise two or more linear drive outputs; and rotarydrive output (408) may in fact comprise two or more rotary driveoutputs.

In scenarios where transmission (416) passes through the rotary outputof motor (418) to rotary drive output (408) (as shown in FIG. 11),transmission (416) may provide a gearbox and/or other assembly to affectthe torque, speed, and/or other characteristics of the rotary output. Inscenarios where transmission (416) converts the rotary output of motor(418) into a linear drive motion that is passed through linear driveoutput (406), transmission (416) may employ a rack and pinion,crankshaft, camshaft, and/or any other suitable kind(s) of component(s)to provide such conversion of motion. In scenarios where transmission(416) provides a combined rotary and linear output through outputs (406,408), transmission (416) may be configured to provide rotary and linearoutputs simultaneously. In addition, or in the alternative, in scenarioswhere transmission (416) provides a combined rotary and linear outputthrough outputs (406, 408), transmission (416) may be configured toprovide rotary and linear outputs separately, in a sequence orotherwise. Various suitable components and configurations that may beincorporated into transmission (416) will be apparent to those ofordinary skill in the art in view of the teachings herein.

FIG. 10 shows handle assembly (400) coupled with shaft assembly (500).Shaft assembly (500) of this example comprises an end effector (502), ashaft (504), an electrical connector (506), and a linear drive input(508). Linear drive input (508) is operable to drive end effector (502)to perform an operation on tissue (e.g., compressing the tissue, cuttingthe tissue, stapling the tissue, etc.). By way of example only, shaftassembly (500) may be at least partially configured and operable justlike any of shaft assemblies (16, 120, 130, 140) described above. Asshown in FIG. 10, when handle assembly (400) is coupled with shaftassembly (500), electrical connectors (402, 506) are coupled together,and linear drive output (406) is coupled with linear drive input (508).Sensor (404) detects the presence and type of shaft assembly (500).Control module (410) processes the corresponding data from sensor (404)and directs transmission (416) to achieve a state where motor (418) isonly coupled with linear drive output (406). Motor (418) is therebyoperable to drive end effector (502). Rotary drive output (408) simplyremains idle.

FIG. 11 shows handle assembly (400) coupled with shaft assembly (600).Shaft assembly (600) of this example comprises an end effector (602), ashaft (604), an electrical connector (606), and a rotary drive input(608). Rotary drive input (508) is operable to drive end effector (602)to perform an operation on tissue (e.g., compressing the tissue, cuttingthe tissue, stapling the tissue, etc.). By way of example only, shaftassembly (600) may be at least partially configured and operable justlike any of shaft assemblies (230, 240, 250) described above. As shownin FIG. 11, when handle assembly (400) is coupled with shaft assembly(600), electrical connectors (402, 606) are coupled together, and rotarydrive output (408) is coupled with rotary drive input (608). Sensor(404) detects the presence and type of shaft assembly (600). Controlmodule (410) processes the corresponding data from sensor (404) anddirects transmission (416) to achieve a state where motor (418) is onlycoupled with rotary drive output (408). Motor (418) is thereby operableto drive end effector (602). Linear drive output (406) simply remainsidle.

FIG. 12 shows handle assembly (400) coupled with shaft assembly (500).Shaft assembly (700) of this example comprises an end effector (702), ashaft (704), an electrical connector (706), a linear drive input (708),and a rotary drive input (710). Drive inputs (708, 710) are operable todrive end effector (702) to perform an operation on tissue (e.g.,compressing the tissue, cutting the tissue, stapling the tissue, etc.).For instance, linear drive input (708) may be operable to drive endeffector (702) to perform one particular kind of operation on tissue(e.g., compressing the tissue); while rotary drive input (710) may beoperable to drive end effector (702) to perform another particular kindof operation on tissue (e.g., cutting and stapling the tissue). By wayof example only, shaft assembly (700) may be at least partiallyconfigured and operable just like shaft assembly (350) described above.As shown in FIG. 12, when handle assembly (400) is coupled with shaftassembly (700), electrical connectors (402, 706) are coupled together,linear drive output (406) is coupled with linear drive input (708), androtary drive output (408) is coupled with rotary drive input (710).Sensor (404) detects the presence and type of shaft assembly (700).Control module (410) processes the corresponding data from sensor (404)and directs transmission (416) to achieve a state where motor (418) isselectively coupled with drive outputs (406, 408). Motor (418) isthereby operable to drive end effector (702) via one or both of driveoutputs (406, 408).

C. Exemplary Handle Assembly with Dual Motors to Provide Linear DriveOutput and Rotary Drive Output

FIG. 13 shows an exemplary alternative handle assembly (800) thatcomprises an electrical connector (802), a sensor (804), a linear driveoutput (806), a rotary drive output (808), a power source (810), acontrol module (812), a linear drive motor (814), and a rotary drivemotor (816). Electrical connector (802), sensor (804), linear driveoutput (806), rotary drive output (808), power source (810), and controlmodule (812) may be configured and operable just like electricalconnector (402), sensor (404), linear drive output (406), rotary driveoutput (408), power source (412), and control module (410) describedabove. Handle assembly (800) of this example may be just as compatiblewith shaft assemblies (500, 600, 700) as handle assembly (400).

Rather than including a single motor (418) in combination with atransmission (416) like handle assembly (400), handle assembly (800) ofthis example comprises separate, dedicated linear and rotary motivesources in the form of linear drive motor (814) and rotary drive motor(816). Linear drive motor (814) thus directly drives linear drive output(806) to impart linear motion to a linear drive input (508, 708) of ashaft assembly (500, 700); while rotary drive motor (814) directlydrives rotary drive output (808) to impart rotary motion to a rotarydrive input (608, 710) of a shaft assembly (600, 700). Linear drivemotor (814) may include a linear motor, a solenoid, or some other kindof device that is configured to generate linear motion without requiringrotation of a component. Alternatively, linear drive motor (814) maycomprise a rotary motor in combination with a rack and pinion,crankshaft, camshaft, and/or any other suitable kind(s) of component(s)that is/are operable to convert rotary motion into linear motion. Rotarydrive motor (814) may comprise any suitable kind of conventional motor.By way of further example only, handle assembly (800) may incorporateany of the features and functionality of handle assembly (300) asdescribed above.

When handle assembly (800) is coupled with shaft assembly (500, 600,700), electrical connector (802) is coupled with the correspondingelectrical connector (506, 606, 706). Linear drive output (806) iscoupled with linear drive input (508, 708) in instances where shaftassembly (500, 700) is coupled with handle assembly (800). Rotary driveoutput (808) is coupled with rotary drive input (608, 710) in instanceswhere shaft assembly (600, 700) is coupled with handle assembly (800).Sensor (804) detects the presence and type of shaft assembly (500, 600,700). Control module (812) processes the corresponding data from sensor(804) and selectively activates linear drive motor (814) and/or rotarydrive motor (816) based on the type of shaft assembly (500, 600, 700)coupled with handle assembly (800). Motors (814, 816) are therebyoperable to drive end effector (502, 602, 702) via one or both of driveoutputs (806, 808).

D. Exemplary User Feedback and Varied Operability Based on Modular ShaftSelection

In the examples described above, handle assembly (400) providesselective activation of transmission (416) based on the type of shaftassembly (500, 600, 700) that is coupled with handle assembly (400), assensed by sensor (404). Similarly, handle assembly (800) providesselective activation of drive motors (814, 816) based on the type ofshaft assembly (500, 600, 700) that is coupled with handle assembly(800), as sensed by sensor (804).

In addition to selecting the appropriate linear or rotary drive scheme,control module (410, 812) may also initiate other kinds of responsesbased on the sensed type of shaft assembly (500, 600, 700). Forinstance, control module (410, 812) may vary the output through a userinterface (e.g., graphical user interface (116), flip-up screen (304),etc.) of handle assembly (400, 800) based on the type of shaft assembly(500, 600, 700) that is coupled with handle assembly (400, 800), assensed by sensor (404, 804). In addition, or in the alternative, controlmodule (410, 812) may selectively enable or disable one or more userinput features (e.g., closure trigger (32, 312), release button assembly(46, 306), control rocker (112, 308), “home” button (114, 318), firsttrigger (202), second trigger (204), etc.) of handle assembly (400, 800)based on the type of shaft assembly (500, 600, 700) that is coupled withhandle assembly (400, 800), as sensed by sensor (404, 804).

In versions where control module (410, 812) selectively enables ordisables one or more user input features of handle assembly (400, 800)based on the sensed type of shaft assembly (500, 600, 700), theenablement and/or disablement of user input features may be emphasizedusing additional user feedback. For instance, user input features thatare selectively enabled based on the sensed type of shaft assembly (500,600, 700) may be visually emphasized using illumination of the enableduser input features and/or based on a notation in a graphical userinterface of handle assembly (400, 800) indicating which user inputfeature(s) is/are enabled. In versions where illumination is used toindicate which user input feature(s) is/are enabled, control module(419, 812) may activate such illumination selectively, based on asequence in which the user input features are intended to be used in asurgical procedure (e.g., illuminating a tissue compression user inputfeature first, followed by illumination of a tissue cutting/staplinguser input feature after the tissue compression user input feature isactuated). In versions where a graphical user interface is used toindicate which user input feature(s) is/are enabled, the graphical userinterface may further indicate what the function is for each enableduser input feature. As another merely illustrative example, controlmodule (410, 812) may provide haptic feedback (e.g., vibration) throughhandle assembly (400, 800) to indicate which user input feature(s)is/are enabled based on the sensed type of shaft assembly (500, 600,700).

In some other variations, a removable shaft assembly (500, 600, 700) mayinclude a feature that covers or otherwise physically obstructs one ormore user input features of handle assembly (400, 800). For instance, ifone version of shaft assembly (500, 600, 700) does not have a featurethat is responsive to a control rocker (112, 308), that version of shaftassembly (500, 600, 700) may include a proximally extending feature thatcovers or otherwise obstructs control rocker (112, 308). The operatorwill thereby immediately understand that control rocker (112, 308) doesnot operate any feature of that shaft assembly (500, 600, 700).

Control module (410, 812) may also select various kinds of controlalgorithms for execution, based on the type of shaft assembly (500, 600,700) that is coupled with handle assembly (400, 800), as sensed bysensor (404, 804). For instance, if shaft assembly (500, 600, 700) is acircular stapler shaft assembly (e.g., like circular stapler shaftassembly (120, 230)), control module (410, 812) may initiate anautomatic draw-down or clamping sequence by automatically retracting theanvil of end effector (122, 232) when the operator actuates “home”button (114, 318). Once the anvil reaches a particular distance from astapling deck of end effector (122, 232), control module (410, 812) maystop the proximal retraction of the anvil. Of course, this is a merelyillustrative example, and other automated routines may be used. Asanother variation, control module (410, 812) may monitor a pressureassociated with tissue compressed between the anvil and the staplingdeck of end effector (122, 232), and may stop the proximal retraction ofthe anvil when the pressure reaches a threshold value. Even in versionswhere control module (410, 812) executes automated routines, controlmodule (410, 812) may still permit manual override. For instance,control rocker (112, 308) may be used to manually adjust thelongitudinal position of the anvil of end effector (122, 232).

IV. Exemplary Rotary Drive Assemblies

FIGS. 14-16 depict an exemplary rotary drive assembly (900) that may beused to drive instrument (10). Rotary drive assembly (900) may also beused to drive at least one rotary drive (210, 212), rotary drive spindle(356), rotary drive output (408, 808), or any other feature that isoperable to receive a rotary drive. Rotary drive assembly (900) of thisexample comprises a motor (902), a gearbox assembly (910), and a driver(920). Motor (902) may comprise any suitable kind of conventional motorthat is operable to provide a rotary output. Gearbox assembly (910)comprises an outer casing (912) and a set of planetary gear sets (930).As shown in FIG. 15, outer casing (912) defines a plurality oflongitudinally extending teeth (914). As shown in FIG. 16, eachplanetary gear set (930) comprises a sun gear (932) and three planetarygears (934). Planetary gears (934) mesh with the respective sun gear(932) and teeth (914) of casing (912). Sun gears (932) are all fixedlysecured to the same axle, which is directly driven by motor (902).

When motor (902) is activated to rotate sun gears (932), planetary gears(934) each rotate about their own respective axis while also orbitingabout the rotation axis shared by sun gears (932). A set of drive posts(936) extend upwardly from the upper-most set of planetary gears (934).Drive posts (936) also orbit about the rotation axis shared by sun gears(932) when motor (902) is activated. Drive posts (936) are received incorresponding recesses (926) formed in a body (924) of driver (920). Dueto this engagement between drive posts (936) and recesses (926), driver(920) will rotate in response to activation of motor (902). A pinion(922) of driver (920) may engage a rack, another gear, or some othercomponent in order to drive motion as described above.

FIGS. 17-19 depict another exemplary rotary drive assembly (1000) thatmay be used to drive instrument (10). Rotary drive assembly (1000) mayalso be used to drive at least one rotary drive (210, 212), rotary drivespindle (356), rotary drive output (408, 808), or any other feature thatis operable to receive a rotary drive. Rotary drive assembly (1000) ofthis example comprises a gearbox (1010) with an outer casing (1012) justlike outer casing (912) described above. Rotary drive assembly (1000)also includes a driver (1020). Driver (1020) includes a pinion (1022)and a body (1024), with a set of downwardly extending tabs (1026, 1028)at the bottom end of body (1024). Driver (1020) also includes planetarygears (1034) secured to a rotary carrier (1040). As shown in FIGS.18-19, carrier (1040) defines a set of notches (1046, 1048) that areconfigured to receive corresponding tabs (1026, 1028) of driver (1020).In this example, notches (1046) and tabs (1026) extend along a greaterangular extent than notch (1048) and tab (1028). This configuration mayprovide a poke-yoke to ensure easy, consistent coupling of driver (1020)with carrier (1040), without requiring precise axial alignment. Withtabs (1026, 1028) disposed in notches (1046, 1048), driver (1020) willrotate unitarily with carrier (1040) about the central axis (CA). Withtabs (1026, 1028) and notches (1046, 1048) being positioned at the outerperiphery of carrier (1040), the assembly may provide minimized torqueinduced loading on tabs (1026, 1028) and notches (1046, 1048). Inaddition, the combination of the motor (not shown) and gearbox (1010)may be easily tested without driver (1020) in place.

As also shown in FIG. 18, each planetary gear (1034) is rotatablymounted to a corresponding axle (1042) of carrier (1042). While notshown, planetary gears (1034) interiorly mesh with a sun gear, which isdirectly driven by a motor. Planetary gears (1034) exteriorly mesh withinternal teeth (not shown) of casing (1012). Planetary gears (1034) thusrotate about the axis of each corresponding axle (1042) while alsoorbiting about the central axis (CA) when the motor is activated.

As shown in FIG. 18, notches (1046, 1048) are configured such that theydo not overlap with the addendum circles of planetary gears (1034).Thus, in the event that tabs (1026, 1028) protrude downwardly to a pointwhere tabs (1026, 1028) intersect a horizontal plane that passes throughall planetary gears (1034), tabs (1026, 1028) will not engage orotherwise interfere with rotation of planetary gears (1034).

As shown in FIG. 19, the outer angular boundaries of tabs (1026, 1028)and notches (1046, 1048) are oriented along lines that are notcoincident with radii extending from the central axis (CA). Inparticular, these outer angular boundaries of tabs (1026, 1028) andnotches (1046, 1048) are oriented along lines that define an angle (θ)with the closest radius extending from the central axis (CA). Thisconfiguration may provide resistance to a radial separating force ontabs (1026, 1028) and notches (1046, 1048) that might otherwise occur asrotary drive assembly (1000) is driven. In other words, if the outerangular boundaries of tabs (1026, 1028) and notches (1046, 1048) werecoincident with radii extending from the central axis (CA), tabs (1026,1028) and notches (1046, 1048) might experience a radial separatingforce as rotary drive assembly (1000) is driven.

While three planetary gears (1034) are shown, any other suitable numberof planetary gears (1034) may be used in each stage. In addition, whilejust one set of planetary gears (1034) and just one carrier (1040) areshown, any other suitable number of sets of planetary gears (1034) andcarriers (1040) may be provided.

V. Exemplary Battery with Multiple States

A battery such as a battery found in battery pack (110) or internalpower source (222, 412, 810) may be configured to transition betweenvarious states, depending on the circumstances at hand. Such states mayinclude, but are not necessarily limited to, the following: a firststate where the battery is not electrically connected to handle assembly(11, 200, 300, 400, 800); a second state where the battery iselectrically connected to handle assembly (11, 200, 300, 400, 800) andis actively being used (e.g., to power motor (118, 224, 226, 302, 418,814, 816, 902)); a third state where the battery is electricallyconnected to handle assembly (11, 200, 300, 400, 800) but is notactively being used; and a fourth state where the battery is removablefor recycling or disposal.

By way of example only, a battery may be in the first state duringshipping and while the battery is stored before use. In this state, thebattery may be insulated from any current draw. In the present example,the operator must perform some action on the battery, beyond simplyinserting the battery into handle assembly (11, 200, 300, 400, 800), toenable the battery to transition from the first state to the secondstate. Also in the present example, once the operator transitions thebattery from the first state to the second state, the battery is unableto return to the first state. For instance, the battery may beconfigured to couple with handle assembly (11, 200, 300, 400, 800); butmay also be configured to not be removable from handle assembly (11,200, 300, 400, 800). Examples of features that may provide suchfunctionality are disclosed in U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8158USNP.0645310], entitled “Powered Surgical Instrument withLatching Feature Preventing Removal of Battery Pack,” filed on even dateherewith, the disclosure of which is incorporated by reference herein.As another merely illustrative example, a removable electrical insulatormay be positioned over electrical contacts of the battery to ensure thatno closed circuit is formed between the contacts. The insulator must beremoved before the battery can be coupled with handle assembly (11, 200,300, 400, 800). Once the insulator is removed from the battery, theinsulator cannot be recoupled with the battery.

After the battery is in the second state, a feature of battery pack(110), internal power source (222, 412, 810), and/or handle assembly(11, 200, 300, 400, 800) may be configured to transition handle assembly(11, 200, 300, 400, 800) to a low power drain “sleep” mode, with a meansto power up after the sleep mode has been initiated. For instance, whena shaft assembly (16, 120, 130, 140, 230, 240, 250, 350, 500, 600, 700)is disconnected from handle assembly (11, 200, 300, 400, 800), handleassembly (11, 200, 300, 400, 800) may immediately de-energize high powercontacts of electrical connector (108, 206, 340, 402, 802). As anothermerely illustrative example, when a shaft assembly (16, 120, 130, 140,230, 240, 250, 350, 500, 600, 700) is disconnected from handle assembly(11, 200, 300, 400, 800), and another shaft assembly (16, 120, 130, 140,230, 240, 250, 350, 500, 600, 700) is not coupled with handle assembly(11, 200, 300, 400, 800) after a certain duration, handle assembly (11,200, 300, 400, 800) may transition to sleep mode.

The battery may reach the third state when shaft assembly (16, 120, 130,140, 230, 240, 250, 350, 500, 600, 700) is coupled with handle assembly(11, 200, 300, 400, 800); or when shaft assembly (16, 120, 130, 140,230, 240, 250, 350, 500, 600, 700) is not coupled with handle assembly(11, 200, 300, 400, 800). In the case where the battery is in the thirdstate when shaft assembly (16, 120, 130, 140, 230, 240, 250, 350, 500,600, 700) is not coupled with handle assembly (11, 200, 300, 400, 800),control circuit/module (117, 220, 410, 812) may prevent activation ofthe primary power up cycle even if the operator actuates a “power on”button or other user input feature. For instance, if a “power on” buttonor other user input feature is actuated when shaft assembly (16, 120,130, 140, 230, 240, 250, 350, 500, 600, 700) is not coupled with handleassembly (11, 200, 300, 400, 800), a display (e.g., graphical userinterface (116), flip-up screen (304), etc.) of handle assembly (11,200, 300, 400, 800) may display the amount of life remaining in thebattery, but the primary circuit will not be energized. Examples ofconfigurations and methods for providing such operability are disclosedin U.S. Pat. App. No. [ATTORNEY DOCKET NO. END8155USNP.0645303],entitled “Surgical Instrument with Integrated and Independently PoweredDisplays,” filed on even date herewith, the disclosure of which isincorporated by reference herein. In some versions, a separate parallelflex circuit is coupled with features of handle assembly (11, 200, 300,400, 800) that mechanically couple with shaft assembly (16, 120, 130,140, 230, 240, 250, 350, 500, 600, 700) (e.g., attachment pin (42),etc.) and provides pins for the battery circuit to access to verify if ashaft assembly (16, 120, 130, 140, 230, 240, 250, 350, 500, 600, 700) iscoupled with handle assembly (11, 200, 300, 400, 800) when the operatoractuates a “power on” button or other user input feature.

VI. Exemplary Combinations

The following examples relate to various non-exhaustive ways in whichthe teachings herein may be combined or applied. It should be understoodthat the following examples are not intended to restrict the coverage ofany claims that may be presented at any time in this application or insubsequent filings of this application. No disclaimer is intended. Thefollowing examples are being provided for nothing more than merelyillustrative purposes. It is contemplated that the various teachingsherein may be arranged and applied in numerous other ways. It is alsocontemplated that some variations may omit certain features referred toin the below examples. Therefore, none of the aspects or featuresreferred to below should be deemed critical unless otherwise explicitlyindicated as such at a later date by the inventors or by a successor ininterest to the inventors. If any claims are presented in thisapplication or in subsequent filings related to this application thatinclude additional features beyond those referred to below, thoseadditional features shall not be presumed to have been added for anyreason relating to patentability.

EXAMPLE 1

An apparatus, comprising: (a) a body assembly, wherein the body assemblycomprises: (i) a rotary drive output, (ii) a linear drive output, and(iii) a control module; (b) a shaft assembly, wherein the shaft assemblycomprises: (i) a distal end, wherein the distal end includes a type ofend effector configured to operate on tissue, and (ii) a proximal end,wherein the proximal end is configured to removably couple with the bodyassembly, wherein the proximal end comprises one or both of: (A) arotary drive input configured to couple with the rotary drive output, or(B) a linear drive input configured to couple with the linear driveinput, wherein the shaft assembly is configured to actuate the endeffector in response to movement of one or both of the rotary driveinput or the linear drive input; wherein the control module isconfigured to selectively actuate the rotary drive output or the lineardrive output based on the type of end effector of the shaft assembly.

EXAMPLE 2

The apparatus of Example 1, wherein the body assembly further comprisesa first rotary motor, wherein the rotary motor is operable to drive oneor both of the rotary drive output or the linear drive output.

EXAMPLE 3

The apparatus of Example 2, wherein the body assembly further comprisesa second rotary motor, wherein the first rotary motor is operable todrive the linear drive output, wherein the second rotary motor isoperable to drive the rotary drive output.

EXAMPLE 4

The apparatus of Example 3, wherein the body further comprises a linearactuator coupled with the rotary drive output, wherein the linearactuator is configured to drive the rotary drive output between aproximal position and a distal position.

EXAMPLE 5

The apparatus of Example 4, wherein the body further defines an opening,wherein the rotary drive output is configured to be recessed relative tothe opening when the rotary drive output is in the proximal position,wherein the rotary drive output is configured to protrude through theopening when the rotary drive output is in the distal position.

EXAMPLE 6

The apparatus of any one or more of Examples 2 through 5, wherein thebody assembly further comprises a transmission assembly, wherein thetransmission assembly is operable to switch between a first state and asecond state, wherein the transmission assembly is configured to couplethe first rotary motor with the rotary drive output in the first state,wherein the transmission assembly is configured to couple the firstrotary motor with the linear drive output in the second state.

EXAMPLE 7

The apparatus of Example 6, wherein the transmission assembly is furtheroperable to switch to a third state, wherein the transmission assemblyis configured to couple the first rotary motor with both the rotarydrive output and the linear drive output in the third state.

EXAMPLE 8

The apparatus of any one or more of Examples 6 through 7, wherein thecontrol module is in communication with the transmission assembly,wherein the control module is configured to switch the transmissionassembly between the first state and the second state.

EXAMPLE 9

The apparatus of any one or more of Examples 1 through 8, wherein thebody further comprises a sensor in communication with the controlmodule, wherein the sensor is configured to detect the type of endeffector of the shaft assembly.

EXAMPLE 10

The apparatus of any one or more of Examples 1 through 9, wherein thebody further comprises an integral power source.

EXAMPLE 11

The apparatus of Example 10, wherein the integral power source comprisesa battery.

EXAMPLE 12

The apparatus of any one or more of Examples 1 through 11, wherein thebody further comprises at least two user input features, wherein atleast one of the user input features is operable to trigger one or bothof the rotary drive output or the linear drive output.

EXAMPLE 13

The apparatus of Example 12, wherein the control module is configured totrigger a user notification indicating a particular user input featureof the at least two user input features, wherein the particular userinput feature is associated with the type of end effector of the shaftassembly.

EXAMPLE 14

The apparatus of any one or more of Examples 1 through 13, wherein theend effector is operable to apply staples to tissue.

EXAMPLE 15

The apparatus of Example 14, wherein the end effector is furtheroperable to cut tissue.

EXAMPLE 16

A kit, the kit comprising: (a) a body assembly, wherein the bodyassembly comprises: (i) a rotary drive output, (ii) a linear driveoutput, and (iii) a control module; (b) a first shaft assembly, whereinthe first shaft assembly comprises: (i) a distal end, wherein the distalend of the first shaft assembly includes a first type of end effectorconfigured to operate on tissue, and (ii) a proximal end, wherein theproximal end of the first shaft assembly is configured to removablycouple with the body assembly, wherein the proximal end of the firstshaft assembly comprises a rotary drive input, wherein the first shaftassembly is configured to actuate the first type of end effector inresponse to movement of the rotary drive input; and (c) a second shaftassembly, wherein the second shaft assembly comprises: (i) a distal end,wherein the distal end of the second shaft assembly includes a secondtype of end effector configured to operate on tissue, and (ii) aproximal end, wherein the proximal end of the second shaft assembly isconfigured to removably couple with the body assembly, wherein theproximal end of the second shaft assembly comprises a linear driveinput, wherein the second shaft assembly is configured to actuate thesecond type of end effector in response to movement of the linear driveinput; wherein the control module is configured to selectively actuatethe rotary drive output or the linear drive output based on whether thefirst or second shaft assembly is coupled with the body.

EXAMPLE 17

The kit of Example 16, wherein the first type of end effector comprisesa circular stapler end effector, wherein the second type of end effectorcomprises a linear stapler end effector.

EXAMPLE 18

The kit of any one or more of Examples 16 through 17, wherein the firsttype of end effector comprises a linear stapler end effector, whereinthe second type of end effector comprises a circular stapler endeffector.

EXAMPLE 19

A method comprising: (a) coupling a first shaft assembly with a bodyassembly, wherein the body assembly comprises a linear driver, whereinthe first shaft assembly comprises a linear driver; (b) positioning anend effector of the first shaft assembly adjacent to tissue of apatient; (c) actuating the body assembly to cause movement of the lineardriver of the body assembly, wherein movement of the linear driver ofthe body assembly causes movement of the linear driver of the firstshaft assembly, wherein movement of the linear driver of the first shaftassembly causes actuation of the end effector of the first shaftassembly, wherein actuation of the end effector of the first shaftassembly affects the adjacent tissue of the patient; (d) removing thefirst shaft assembly from the body assembly; (e) coupling a second shaftassembly with the body assembly, wherein the body assembly furthercomprises a rotary driver, wherein the second shaft assembly comprises arotary driver; (f) positioning an end effector of the second shaftassembly adjacent to tissue of a patient; and (g) actuating the bodyassembly to cause movement of the rotary driver of the body assembly,wherein movement of the rotary driver of the body assembly causesmovement of the rotary driver of the second shaft assembly, whereinmovement of the rotary driver of the second shaft assembly causesactuation of the end effector of the second shaft assembly, whereinactuation of the end effector of the second shaft assembly affects theadjacent tissue of the patient.

EXAMPLE 20

The method of Example 19, wherein actuation of the end effector of thefirst shaft assembly or actuation of the end effector of the secondshaft assembly drives staples into the adjacent tissue of the patient.

VII. Miscellaneous

It should be understood that any of the versions of instrumentsdescribed herein may include various other features in addition to or inlieu of those described above. By way of example only, any of theinstruments described herein may also include one or more of the variousfeatures disclosed in any of the various references that areincorporated by reference herein. It should also be understood that theteachings herein may be readily applied to any of the instrumentsdescribed in any of the other references cited herein, such that theteachings herein may be readily combined with the teachings of any ofthe references cited herein in numerous ways. Other types of instrumentsinto which the teachings herein may be incorporated will be apparent tothose of ordinary skill in the art.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8154USNP.0645301], entitled “Apparatus and Method to Determine End ofLife of Battery Powered Surgical Instrument,” filed on even dateherewith, the disclosure of which is incorporated by reference herein.Various suitable ways in which the teachings herein may be combined withthe teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8154USNP.0645301] will be apparent to those of ordinary skill in theart in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8155USNP.0645303], entitled “Surgical Instrument with Integrated andIndependently Powered Displays,” filed on even date herewith, thedisclosure of which is incorporated by reference herein. Varioussuitable ways in which the teachings herein may be combined with theteachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8155USNP.0645303] will be apparent to those of ordinary skill in theart in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8156USNP.0645305], entitled “Battery Pack with Integrated CircuitProviding Sleep Mode to Battery Pack and Associated SurgicalInstrument,” filed on even date herewith, the disclosure of which isincorporated by reference herein. Various suitable ways in which theteachings herein may be combined with the teachings of U.S. Pat. App.No. [ATTORNEY DOCKET NO. END8156USNP.0645305] will be apparent to thoseof ordinary skill in the art in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8157USNP.0645308], entitled “Battery Powered Surgical Instrument withDual Power Utilization Circuits for Dual Modes,” filed on even dateherewith, the disclosure of which is incorporated by reference herein.Various suitable ways in which the teachings herein may be combined withthe teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8157USNP.0645308] will be apparent to those of ordinary skill in theart in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8158USNP.0645310], entitled “Powered Surgical Instrument withLatching Feature Preventing Removal of Battery Pack,” filed on even dateherewith, the disclosure of which is incorporated by reference herein.Various suitable ways in which the teachings herein may be combined withthe teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8158USNP.0645310] will be apparent to those of ordinary skill in theart in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8159USNP.0645320], entitled “Modular Powered Electrical Connectionfor Surgical Instrument with Features to Prevent Electrical Discharge”filed on even date herewith, the disclosure of which is incorporated byreference herein. Various suitable ways in which the teachings hereinmay be combined with the teachings of U.S. Pat. App. No. [ATTORNEYDOCKET NO. END8159USNP.0645320] will be apparent to those of ordinaryskill in the art in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8161USNP.0645357], entitled “Powered Circular Stapler withReciprocating Drive Member to Provide Independent Stapling and Cuttingof Tissue,” filed on even date herewith, the disclosure of which isincorporated by reference herein. Various suitable ways in which theteachings herein may be combined with the teachings of U.S. Pat. App.No. [ATTORNEY DOCKET NO. END8161USNP.0645357] will be apparent to thoseof ordinary skill in the art in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8243USNP.0645558], entitled “Surgical Stapler with IndependentlyActuated Drivers to Provide Varying Staple Heights,” filed on even dateherewith, the disclosure of which is incorporated by reference herein.Various suitable ways in which the teachings herein may be combined withthe teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8243USNP.0645558] will be apparent to those of ordinary skill in theart in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8162USNP.0645359], entitled “Surgical Instrument Handle Assembly withFeature to Clean Electrical Contacts at Modular Shaft Interface,” filedon even date herewith, the disclosure of which is incorporated byreference herein. Various suitable ways in which the teachings hereinmay be combined with the teachings of U.S. Pat. App. No. [ATTORNEYDOCKET NO. END8162USNP.0645359] will be apparent to those of ordinaryskill in the art in view of the teachings herein.

It should also be understood that any ranges of values referred toherein should be read to include the upper and lower boundaries of suchranges. For instance, a range expressed as ranging “betweenapproximately 1.0 inches and approximately 1.5 inches” should be read toinclude approximately 1.0 inches and approximately 1.5 inches, inaddition to including the values between those upper and lowerboundaries.

It should be appreciated that any patent, publication, or otherdisclosure material, in whole or in part, that is said to beincorporated by reference herein is incorporated herein only to theextent that the incorporated material does not conflict with existingdefinitions, statements, or other disclosure material set forth in thisdisclosure. As such, and to the extent necessary, the disclosure asexplicitly set forth herein supersedes any conflicting materialincorporated herein by reference. Any material, or portion thereof, thatis said to be incorporated by reference herein, but which conflicts withexisting definitions, statements, or other disclosure material set forthherein will only be incorporated to the extent that no conflict arisesbetween that incorporated material and the existing disclosure material.

Versions of the devices described above may have application inconventional medical treatments and procedures conducted by a medicalprofessional, as well as application in robotic-assisted medicaltreatments and procedures. By way of example only, various teachingsherein may be readily incorporated into a robotic surgical system suchas the DAVINCI™ system by Intuitive Surgical, Inc., of Sunnyvale, Calif.Similarly, those of ordinary skill in the art will recognize thatvarious teachings herein may be readily combined with various teachingsof U.S. Pat. No. 6,783,524, entitled “Robotic Surgical Tool withUltrasound Cauterizing and Cutting Instrument,” published Aug. 31, 2004,the disclosure of which is incorporated by reference herein.

Versions described above may be designed to be disposed of after asingle use, or they can be designed to be used multiple times. Versionsmay, in either or both cases, be reconditioned for reuse after at leastone use. Reconditioning may include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, someversions of the device may be disassembled, and any number of theparticular pieces or parts of the device may be selectively replaced orremoved in any combination. Upon cleaning and/or replacement ofparticular parts, some versions of the device may be reassembled forsubsequent use either at a reconditioning facility, or by an operatorimmediately prior to a procedure. Those skilled in the art willappreciate that reconditioning of a device may utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

By way of example only, versions described herein may be sterilizedbefore and/or after a procedure. In one sterilization technique, thedevice is placed in a closed and sealed container, such as a plastic orTYVEK bag. The container and device may then be placed in a field ofradiation that can penetrate the container, such as gamma radiation,x-rays, or high-energy electrons. The radiation may kill bacteria on thedevice and in the container. The sterilized device may then be stored inthe sterile container for later use. A device may also be sterilizedusing any other technique known in the art, including but not limited tobeta or gamma radiation, ethylene oxide, or steam.

Having shown and described various embodiments of the present invention,further adaptations of the methods and systems described herein may beaccomplished by appropriate modifications by one of ordinary skill inthe art without departing from the scope of the present invention.Several of such potential modifications have been mentioned, and otherswill be apparent to those skilled in the art. For instance, theexamples, embodiments, geometrics, materials, dimensions, ratios, steps,and the like discussed above are illustrative and are not required.Accordingly, the scope of the present invention should be considered interms of the following claims and is understood not to be limited to thedetails of structure and operation shown and described in thespecification and drawings.

I/we claim:
 1. An apparatus, comprising: (a) a body assembly, whereinthe body assembly comprises: (i) a rotary drive output, (ii) a lineardrive output, and (iii) a control module; (b) a shaft assembly, whereinthe shaft assembly comprises: (i) a distal end, wherein the distal endincludes a type of end effector configured to operate on tissue, and(ii) a proximal end, wherein the proximal end is configured to removablycouple with the body assembly, wherein the proximal end comprises one orboth of: (A) a rotary drive input configured to couple with the rotarydrive output, or (B) a linear drive input configured to couple with thelinear drive input, wherein the shaft assembly is configured to actuatethe end effector in response to movement of one or both of the rotarydrive input or the linear drive input; wherein the control module isconfigured to selectively actuate the rotary drive output or the lineardrive output based on the type of end effector of the shaft assembly. 2.The apparatus of claim 1, wherein the body assembly further comprises afirst rotary motor, wherein the rotary motor is operable to drive one orboth of the rotary drive output or the linear drive output.
 3. Theapparatus of claim 2, wherein the body assembly further comprises asecond rotary motor, wherein the first rotary motor is operable to drivethe linear drive output, wherein the second rotary motor is operable todrive the rotary drive output.
 4. The apparatus of claim 3, wherein thebody further comprises a linear actuator coupled with the rotary driveoutput, wherein the linear actuator is configured to drive the rotarydrive output between a proximal position and a distal position.
 5. Theapparatus of claim 4, wherein the body further defines an opening,wherein the rotary drive output is configured to be recessed relative tothe opening when the rotary drive output is in the proximal position,wherein the rotary drive output is configured to protrude through theopening when the rotary drive output is in the distal position.
 6. Theapparatus of claim 2, wherein the body assembly further comprises atransmission assembly, wherein the transmission assembly is operable toswitch between a first state and a second state, wherein thetransmission assembly is configured to couple the first rotary motorwith the rotary drive output in the first state, wherein thetransmission assembly is configured to couple the first rotary motorwith the linear drive output in the second state.
 7. The apparatus ofclaim 6, wherein the transmission assembly is further operable to switchto a third state, wherein the transmission assembly is configured tocouple the first rotary motor with both the rotary drive output and thelinear drive output in the third state.
 8. The apparatus of claim 6,wherein the control module is in communication with the transmissionassembly, wherein the control module is configured to switch thetransmission assembly between the first state and the second state. 9.The apparatus of claim 1, wherein the body further comprises a sensor incommunication with the control module, wherein the sensor is configuredto detect the type of end effector of the shaft assembly.
 10. Theapparatus of claim 1, wherein the body further comprises an integralpower source.
 11. The apparatus of claim 10, wherein the integral powersource comprises a battery.
 12. The apparatus of claim 1, wherein thebody further comprises at least two user input features, wherein atleast one of the user input features is operable to trigger one or bothof the rotary drive output or the linear drive output.
 13. The apparatusof claim 12, wherein the control module is configured to trigger a usernotification indicating a particular user input feature of the at leasttwo user input features, wherein the particular user input feature isassociated with the type of end effector of the shaft assembly.
 14. Theapparatus of claim 1, wherein the end effector is operable to applystaples to tissue.
 15. The apparatus of claim 14, wherein the endeffector is further operable to cut tissue.
 16. A kit, the kitcomprising: (a) a body assembly, wherein the body assembly comprises:(i) a rotary drive output, (ii) a linear drive output, and (iii) acontrol module; (b) a first shaft assembly, wherein the first shaftassembly comprises: (i) a distal end, wherein the distal end of thefirst shaft assembly includes a first type of end effector configured tooperate on tissue, and (ii) a proximal end, wherein the proximal end ofthe first shaft assembly is configured to removably couple with the bodyassembly, wherein the proximal end of the first shaft assembly comprisesa rotary drive input, wherein the first shaft assembly is configured toactuate the first type of end effector in response to movement of therotary drive input; and (c) a second shaft assembly, wherein the secondshaft assembly comprises: (i) a distal end, wherein the distal end ofthe second shaft assembly includes a second type of end effectorconfigured to operate on tissue, and (ii) a proximal end, wherein theproximal end of the second shaft assembly is configured to removablycouple with the body assembly, wherein the proximal end of the secondshaft assembly comprises a linear drive input, wherein the second shaftassembly is configured to actuate the second type of end effector inresponse to movement of the linear drive input; wherein the controlmodule is configured to selectively actuate the rotary drive output orthe linear drive output based on whether the first or second shaftassembly is coupled with the body.
 17. The kit of claim 16, wherein thefirst type of end effector comprises a circular stapler end effector,wherein the second type of end effector comprises a linear stapler endeffector.
 18. The kit of claim 16, wherein the first type of endeffector comprises a linear stapler end effector, wherein the secondtype of end effector comprises a circular stapler end effector.
 19. Amethod comprising: (a) coupling a first shaft assembly with a bodyassembly, wherein the body assembly comprises a linear driver, whereinthe first shaft assembly comprises a linear driver; (b) positioning anend effector of the first shaft assembly adjacent to tissue of apatient; (c) actuating the body assembly to cause movement of the lineardriver of the body assembly, wherein movement of the linear driver ofthe body assembly causes movement of the linear driver of the firstshaft assembly, wherein movement of the linear driver of the first shaftassembly causes actuation of the end effector of the first shaftassembly, wherein actuation of the end effector of the first shaftassembly affects the adjacent tissue of the patient; (d) removing thefirst shaft assembly from the body assembly; (e) coupling a second shaftassembly with the body assembly, wherein the body assembly furthercomprises a rotary driver, wherein the second shaft assembly comprises arotary driver; (f) positioning an end effector of the second shaftassembly adjacent to tissue of a patient; and (g) actuating the bodyassembly to cause movement of the rotary driver of the body assembly,wherein movement of the rotary driver of the body assembly causesmovement of the rotary driver of the second shaft assembly, whereinmovement of the rotary driver of the second shaft assembly causesactuation of the end effector of the second shaft assembly, whereinactuation of the end effector of the second shaft assembly affects theadjacent tissue of the patient.
 20. The method of claim 19, whereinactuation of the end effector of the first shaft assembly or actuationof the end effector of the second shaft assembly drives staples into theadjacent tissue of the patient.